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answered 2015-04-07 11:06:36 -0600

amsoufari gravatar image

Hello,

Unfortunately I encounter the same problem, I think it's the same problem (from new ROS users). Please could you help us?

Error

[ INFO] [1428421244.571458994]: lookupTransform base_footprint to robot0_laser_0 timed out. Could not transform laser scan into base_frame.

Launch file

<arg name="scan_topic" default="/robot0/laser_0"/> <arg name="map_topic" default="/SaveMap/map"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> 

<param name="scan_topic" value="$(arg scan_topic)" />
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="base_frame" />

<param name="output_timing" value="false"/>
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="true"/>

<param name="map_pub_period" value="1.0"/>

<param name="map_resolution" value="0.05"/>
<param name="map_size" value="1024"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5"/>

<remap from="map" to="$(arg map_topic)" />

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->

</node>

<node pkg="tf" type="static_transform_publisher" name="world_2_map" args="0 0 0 0 0 0 /world /map 100"/> <node pkg="tf" type="static_transform_publisher" name="map_2_base_footprint" args="0 0 0 0 0 0 /map /base_footprint 100"/> <node pkg="tf" type="static_transform_publisher" name="base_footprint_2_base_link" args="0 0 0 0 0 0 /base_footprint /base_link 100"/> <node pkg="tf" type="static_transform_publisher" name="base_link_2_base_stabilized_link" args="0 0 0 0 0 0 /base_link /base_stabilized 100"/> <node pkg="tf" type="static_transform_publisher" name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/> <node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/> <node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_frame /laser_link 100"/>

Bagfile info

rosbag play output2.bag --clock

  • path: output2.bag
  • version: 2.0
  • duration: 57.1s
  • start: Mar 27 2015 10:59:16.20 (1427450356.20)
  • end: Mar 27 2015 11:00:13.34 (1427450413.34)
  • size: 6.2 MB
  • messages: 2858
  • compression: none [9/9 chunks]
  • types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
  • topics: /robot0/laser_0 2858 msgs : sensor_msgs/LaserScan

tf view_frames

(Unfortunately I need >5 points to upload the file )

https://drive.google.com/file/d/0B43cMLsniAh3QTdiTjFSd1dwMDg/view?usp=sharing

RQT_graph

https://drive.google.com/file/d/0B43cMLsniAh3WFpOSml1SzUxYWs/view?usp=sharing

Thanks you in advance

Hello,

Unfortunately I encounter the same problem, I think it's the same problem (from new ROS users). Please could you help us?

Error

[ INFO] [1428421244.571458994]: lookupTransform base_footprint to robot0_laser_0 timed out. Could not transform laser scan into base_frame.

Launch file

<!-- Name of topics -->
<arg name="scan_topic" default="/robot0/laser_0"/>
    default="/robot0/laser_0" />
<arg name="map_topic" default="/SaveMap/map"/>
 
default="/SaveMap/map" />

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
 
 
<param name="/use_sim_time" value="true" />

<param name="scan_topic" value="$(arg scan_topic)" />
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="base_frame" />

<param name="output_timing" value="false"/>
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="true"/>

<param name="map_pub_period" value="1.0"/>

<param name="map_resolution" value="0.05"/>
<param name="map_size" value="1024"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5"/>

<remap from="map" to="$(arg map_topic)" />
</node>

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
TF publish-->
<node pkg="tf" type="static_transform_publisher" name="world_2_map" args="0 0 0 0 0 0  /world /map 100" />
<node pkg="tf" type="static_transform_publisher" name="map_2_base_footprint" args="0 0 0 0 0 0 /map /base_footprint 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_footprint_2_base_link" args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_base_stabilized_link" args="0 0 0 0 0 0 /base_link /base_stabilized 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_frame /laser_link 100"/>

 
</node>
 

<node pkg="tf" type="static_transform_publisher" name="world_2_map" args="0 0 0 0 0 0  /world /map 100"/>
<node pkg="tf" type="static_transform_publisher" name="map_2_base_footprint" args="0 0 0 0 0 0 /map /base_footprint 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_footprint_2_base_link" args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_2_base_stabilized_link" args="0 0 0 0 0 0 /base_link /base_stabilized 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_frame /laser_link 100"/> 
 
Bagfile info
 
 
rosbag play output2.bag --clock
 
     
  • path:        output2.bag
    •  
  • version:     2.0
    •  
  • duration:    57.1s
    •  
  • start:       Mar 27 2015 10:59:16.20 (1427450356.20)
    •  
  • end:         Mar 27 2015 11:00:13.34 (1427450413.34)
    •  
  • size:        6.2 MB
    •  
  • messages:    2858
    •  
  • compression: none [9/9 chunks]
    •  
  • types:       sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
    •  
  • topics:      /robot0/laser_0   2858 msgs    : sensor_msgs/LaserScan
    •  
 
 
tf view_frames
 
(Unfortunately I need  >5 points to upload the file )
 
 
https://drive.google.com/file/d/0B43cMLsniAh3QTdiTjFSd1dwMDg/view?usp=sharing
 
 
RQT_graph
 
 
https://drive.google.com/file/d/0B43cMLsniAh3WFpOSml1SzUxYWs/view?usp=sharing
 
 
Thanks you in advance
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